// David Eberly, Geometric Tools, Redmond WA 98052
// Copyright (c) 1998-2019
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
// File Version: 3.0.0 (2016/06/19)

#pragma once

#include <Mathematics/GteMatrix3x3.h>

namespace gte
{

// The input triangle mesh must represent a polyhedron.  The triangles are
// represented as triples of indices <V0,V1,V2> into the vertex array.
// The index array has numTriangles such triples.  The Boolean value
// 'bodyCoords is' 'true' if you want the inertia tensor to be relative to
// body coordinates but 'false' if you want it to be relative to world
// coordinates.
//
// The code assumes the rigid body has a constant density of 1.  If your
// application assigns a constant density of 'd', then you must multiply
// the output 'mass' by 'd' and the output 'inertia' by 'd'.

template <typename Real>
void ComputeMassProperties(Vector3<Real> const* vertices, int numTriangles,
    int const* indices, bool bodyCoords, Real& mass, Vector3<Real>& center,
    Matrix3x3<Real>& inertia);


template <typename Real>
void ComputeMassProperties(Vector3<Real> const* vertices, int numTriangles,
    int const* indices, bool bodyCoords, Real& mass, Vector3<Real>& center,
    Matrix3x3<Real>& inertia)
{
    Real const oneDiv6 = (Real)(1.0 / 6.0);
    Real const oneDiv24 = (Real)(1.0 / 24.0);
    Real const oneDiv60 = (Real)(1.0 / 60.0);
    Real const oneDiv120 = (Real)(1.0 / 120.0);

    // order:  1, x, y, z, x^2, y^2, z^2, xy, yz, zx
    Real integral[10] = { (Real)0.0, (Real)0.0, (Real)0.0, (Real)0.0,
        (Real)0.0, (Real)0.0, (Real)0.0, (Real)0.0, (Real)0.0, (Real)0.0 };

    int const* index = indices;
    for (int i = 0; i < numTriangles; ++i)
    {
        // Get vertices of triangle i.
        Vector3<Real> v0 = vertices[*index++];
        Vector3<Real> v1 = vertices[*index++];
        Vector3<Real> v2 = vertices[*index++];

        // Get cross product of edges and normal vector.
        Vector3<Real> V1mV0 = v1 - v0;
        Vector3<Real> V2mV0 = v2 - v0;
        Vector3<Real> N = Cross(V1mV0, V2mV0);

        // Compute integral terms.
        Real tmp0, tmp1, tmp2;
        Real f1x, f2x, f3x, g0x, g1x, g2x;
        tmp0 = v0[0] + v1[0];
        f1x = tmp0 + v2[0];
        tmp1 = v0[0] * v0[0];
        tmp2 = tmp1 + v1[0] * tmp0;
        f2x = tmp2 + v2[0] * f1x;
        f3x = v0[0] * tmp1 + v1[0] * tmp2 + v2[0] * f2x;
        g0x = f2x + v0[0] * (f1x + v0[0]);
        g1x = f2x + v1[0] * (f1x + v1[0]);
        g2x = f2x + v2[0] * (f1x + v2[0]);

        Real f1y, f2y, f3y, g0y, g1y, g2y;
        tmp0 = v0[1] + v1[1];
        f1y = tmp0 + v2[1];
        tmp1 = v0[1] * v0[1];
        tmp2 = tmp1 + v1[1] * tmp0;
        f2y = tmp2 + v2[1] * f1y;
        f3y = v0[1] * tmp1 + v1[1] * tmp2 + v2[1] * f2y;
        g0y = f2y + v0[1] * (f1y + v0[1]);
        g1y = f2y + v1[1] * (f1y + v1[1]);
        g2y = f2y + v2[1] * (f1y + v2[1]);

        Real f1z, f2z, f3z, g0z, g1z, g2z;
        tmp0 = v0[2] + v1[2];
        f1z = tmp0 + v2[2];
        tmp1 = v0[2] * v0[2];
        tmp2 = tmp1 + v1[2] * tmp0;
        f2z = tmp2 + v2[2] * f1z;
        f3z = v0[2] * tmp1 + v1[2] * tmp2 + v2[2] * f2z;
        g0z = f2z + v0[2] * (f1z + v0[2]);
        g1z = f2z + v1[2] * (f1z + v1[2]);
        g2z = f2z + v2[2] * (f1z + v2[2]);

        // Update integrals.
        integral[0] += N[0] * f1x;
        integral[1] += N[0] * f2x;
        integral[2] += N[1] * f2y;
        integral[3] += N[2] * f2z;
        integral[4] += N[0] * f3x;
        integral[5] += N[1] * f3y;
        integral[6] += N[2] * f3z;
        integral[7] += N[0] * (v0[1] * g0x + v1[1] * g1x + v2[1] * g2x);
        integral[8] += N[1] * (v0[2] * g0y + v1[2] * g1y + v2[2] * g2y);
        integral[9] += N[2] * (v0[0] * g0z + v1[0] * g1z + v2[0] * g2z);
    }

    integral[0] *= oneDiv6;
    integral[1] *= oneDiv24;
    integral[2] *= oneDiv24;
    integral[3] *= oneDiv24;
    integral[4] *= oneDiv60;
    integral[5] *= oneDiv60;
    integral[6] *= oneDiv60;
    integral[7] *= oneDiv120;
    integral[8] *= oneDiv120;
    integral[9] *= oneDiv120;

    // mass
    mass = integral[0];

    // center of mass
    center = Vector3<Real>{ integral[1], integral[2], integral[3] } / mass;

    // inertia relative to world origin
    inertia(0, 0) = integral[5] + integral[6];
    inertia(0, 1) = -integral[7];
    inertia(0, 2) = -integral[9];
    inertia(1, 0) = inertia(0, 1);
    inertia(1, 1) = integral[4] + integral[6];
    inertia(1, 2) = -integral[8];
    inertia(2, 0) = inertia(0, 2);
    inertia(2, 1) = inertia(1, 2);
    inertia(2, 2) = integral[4] + integral[5];

    // inertia relative to center of mass
    if (bodyCoords)
    {
        inertia(0, 0) -= mass*(center[1] * center[1] +
            center[2] * center[2]);
        inertia(0, 1) += mass*center[0] * center[1];
        inertia(0, 2) += mass*center[2] * center[0];
        inertia(1, 0) = inertia(0, 1);
        inertia(1, 1) -= mass*(center[2] * center[2] +
            center[0] * center[0]);
        inertia(1, 2) += mass*center[1] * center[2];
        inertia(2, 0) = inertia(0, 2);
        inertia(2, 1) = inertia(1, 2);
        inertia(2, 2) -= mass*(center[0] * center[0] +
            center[1] * center[1]);
    }
}


}
